Robot::Globals Namespace Reference

Functions
pros::Controller	controller (pros::E_CONTROLLER_MASTER)
pros::Motor	RightFront (6, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	LeftFront (-5, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	LeftBack (-7, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	RightBack (8, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	LeftMid (2, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	RightMid (-3, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	IntakeMotor (-9, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor	HookMotor (4, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::adi::DigitalIn	drivetrainToggleSwitch ('G')
pros::adi::DigitalIn	autonToggleSwitch ('F')
pros::Optical	colorSensor (4)
pros::adi::Pneumatics	LatchControl ('A', false)
pros::adi::Pneumatics	IntakeToggle ('B', false)
pros::Imu	inertial_sensor (15)
pros::MotorGroup	drive_left ({LeftFront.get_port(), LeftMid.get_port(), LeftBack.get_port()})
pros::MotorGroup	drive_right ({RightFront.get_port(), RightMid.get_port(), RightBack.get_port()})
pros::MotorGroup	drive_ ({LeftFront.get_port(), RightFront.get_port(), LeftMid.get_port(), RightMid.get_port(), LeftBack.get_port(), RightBack.get_port()})
lemlib::ExpoDriveCurve	throttle_curve (3, 10, 1.019)
lemlib::ExpoDriveCurve	steer_curve (4, 6, 1.0053)
lemlib::Chassis	chassis (drivetrain, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve)

Variables
lemlib::Drivetrain	drivetrain
lemlib::OdomSensors	sensors
lemlib::ControllerSettings	lateral_controller
lemlib::ControllerSettings	angular_controller

Function Documentation

autonToggleSwitch()

pros::adi::DigitalIn Robot::Globals::autonToggleSwitch

(

'F'

)

chassis()

lemlib::Chassis Robot::Globals::chassis	(	drivetrain	,
		lateral_controller	,
		angular_controller	,
		sensors	,
		&	throttle_curve,
		&	steer_curve )

Referenced by Robot::Drivetrain::ArcadeDrive(), Robot::Autonomous::Auton1(), Robot::Autonomous::Auton2(), Robot::Autonomous::Auton4(), Robot::Drivetrain::CurvatureDrive(), initialize(), and Robot::Drivetrain::TankDrive().

colorSensor()

pros::Optical Robot::Globals::colorSensor

(

4

)

Referenced by Robot::Intake::score().

controller()

pros::Controller Robot::Globals::controller

(

pros::E_CONTROLLER_MASTER

)

Referenced by Robot::Intake::Intake(), Robot::Drivetrain::ArcadeDrive(), Robot::Drivetrain::CurvatureDrive(), opcontrol(), Robot::Intake::run(), Robot::Latch::run(), and Robot::Drivetrain::TankDrive().

drive_()

pros::MotorGroup Robot::Globals::drive_

(

{LeftFront.get_port(), RightFront.get_port(), LeftMid.get_port(), RightMid.get_port(), LeftBack.get_port(), RightBack.get_port()}

)

References LeftBack(), LeftFront(), LeftMid(), RightBack(), RightFront(), and RightMid().

drive_left()

pros::MotorGroup Robot::Globals::drive_left

(

{LeftFront.get_port(), LeftMid.get_port(), LeftBack.get_port()}

)

References LeftBack(), LeftFront(), and LeftMid().

drive_right()

pros::MotorGroup Robot::Globals::drive_right

(

{RightFront.get_port(), RightMid.get_port(), RightBack.get_port()}

)

References RightBack(), RightFront(), and RightMid().

drivetrainToggleSwitch()

pros::adi::DigitalIn Robot::Globals::drivetrainToggleSwitch

(

'G'

)

HookMotor()

pros::Motor Robot::Globals::HookMotor	(	4	,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by Robot::Intake::run().

inertial_sensor()

pros::Imu Robot::Globals::inertial_sensor

(

15

)

IntakeMotor()

pros::Motor Robot::Globals::IntakeMotor	(	-	9,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by Robot::Intake::run(), and Robot::Intake::score().

IntakeToggle()

pros::adi::Pneumatics Robot::Globals::IntakeToggle	(	'B'	,
		false	)

Referenced by Robot::Intake::toggle().

LatchControl()

pros::adi::Pneumatics Robot::Globals::LatchControl	(	'A'	,
		false	)

Referenced by Robot::Latch::toggle().

LeftBack()

pros::Motor Robot::Globals::LeftBack	(	-	7,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), and drive_left().

LeftFront()

pros::Motor Robot::Globals::LeftFront	(	-	5,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), and drive_left().

LeftMid()

pros::Motor Robot::Globals::LeftMid	(	2	,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), and drive_left().

RightBack()

pros::Motor Robot::Globals::RightBack	(	8	,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), and drive_right().

RightFront()

pros::Motor Robot::Globals::RightFront	(	6	,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), and drive_right().

RightMid()

pros::Motor Robot::Globals::RightMid	(	-	3,
		pros::v5::MotorGears::blue	,
		pros::v5::MotorUnits::degrees	)

Referenced by drive_(), and drive_right().

steer_curve()

lemlib::ExpoDriveCurve Robot::Globals::steer_curve	(	4	,
		6	,
		1.	0053 )

throttle_curve()

lemlib::ExpoDriveCurve Robot::Globals::throttle_curve	(	3	,
		10	,
		1.	019 )

Variable Documentation

angular_controller

lemlib::ControllerSettings Robot::Globals::angular_controller

Initial value:

{
    4.04, 
    0,    
    24.5, 
    3,    
    1,    
    100,  
    3,    
    500,  
    0     
}

Definition at line 77 of file globals.cpp.

                                           {
    4.04, // kP
    0,    // kI
    24.5, // kD
    3,    // Anti Windup
    1,    // smallErrorRange
    100,  // smallErrorTimeout
    3,    // largeErrorRange
    500,  // largeErrorTimeout
    0     // slew rate
};

drivetrain

lemlib::Drivetrain Robot::Globals::drivetrain

Initial value:

{
    &drive_left,  
    &drive_right, 
    12.125,       
    lemlib::Omniwheel::OLD_325,
    450, 
    2    
}

Definition at line 46 of file globals.cpp.

                           {
    &drive_left,  // left drivetrain motors
    &drive_right, // right drivetrain motors
    12.125,       // track width
    lemlib::Omniwheel::OLD_325,
    450, // drivetrain rpm is 450
    2    // horizontal drift is 2
};

lateral_controller

lemlib::ControllerSettings Robot::Globals::lateral_controller

Initial value:

{
    7.6, 
    0,   
    8,   
    3,   
    1,   
    100, 
    3,   
    500, 
    90   
}

Definition at line 64 of file globals.cpp.

                                           {
    7.6, // kP
    0,   // KI
    8,   // kD
    3,   // Anti Windup
    1,   // smallErrorRange
    100, // smallErrorTimeout
    3,   // largeErrorRange
    500, // largeErrorTimeout
    90   // slew rate
};

sensors

lemlib::OdomSensors Robot::Globals::sensors

Initial value:

{
    nullptr,         
    nullptr,         
    nullptr,         
    nullptr,         
    &inertial_sensor 
}

Definition at line 55 of file globals.cpp.

                         {
    nullptr,         // vertical tracking wheel 1
    nullptr,         // vertical tracking wheel 2
    nullptr,         // horizontal tracking wheel 1
    nullptr,         // we don't have a second tracking wheel, so we set it to nullptr
    &inertial_sensor // inertial sensor
};